etherlabmaster: master/master.h@674071846ee3 (annotated)

39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	1	/******************************************************************************
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	3	* m a s t e r . h
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	5	* EtherCAT master structure.
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	7	* $Id$
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	9	*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	10
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#ifndef _EC_MASTER_H_
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	12	#define _EC_MASTER_H_
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	13
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	14	#include <linux/list.h>
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	15	#include <linux/sysfs.h>
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	16	#include <linux/timer.h>
95 0066de7a456d Domains als Liste verwaltet. Florian Pose <fp@igh-essen.com> parents: 94 diff changeset	17
54 7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	18	#include "device.h"
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt. Florian Pose <fp@igh-essen.com> parents: 52 diff changeset	19	#include "domain.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	20
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	21	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	22
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	23	/**
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	24	EtherCAT master mode.
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	25	*/
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	26
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	27	typedef enum
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	28	{
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	29	EC_MASTER_MODE_IDLE,
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	30	EC_MASTER_MODE_FREERUN,
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	31	EC_MASTER_MODE_RUNNING
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	32	}
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	33	ec_master_mode_t;
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	34
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	35	/*****************************************************************************/
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	36
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	37	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	38	Cyclic EtherCAT statistics.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	39	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	40
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	41	typedef struct
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	42	{
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	43	unsigned int timeouts; /*< command timeouts /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	44	unsigned int delayed; /*< delayed commands /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	45	unsigned int corrupted; /*< corrupted frames /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	46	unsigned int unmatched; /*< unmatched commands /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	47	unsigned int eoe_errors; /*< Ethernet-over-EtherCAT errors /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	48	cycles_t t_last; /*< time of last output /
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	49	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	50	ec_stats_t;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	51
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	52	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	53
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	54	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	55	EtherCAT-Master.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	56	Manages slaves, domains and IO.
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	57	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	58
55 059a9e712aa7 Mit neuer Schnittstelle wieder lauff?hig. Florian Pose <fp@igh-essen.com> parents: 54 diff changeset	59	struct ec_master
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	60	{
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	61	struct list_head list; /*< list item /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	62	struct kobject kobj; /*< kobject /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	63	unsigned int index; /*< master index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	64	struct list_head slaves; /*< list of slaves on the bus /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	65	unsigned int slave_count; /*< number of slaves on the bus /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	66	ec_device_t device; /< EtherCAT device /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	67	struct list_head command_queue; /*< command queue /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	68	uint8_t command_index; /*< current command index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	69	struct list_head domains; /*< list of domains /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	70	ec_command_t simple_command; /*< command structure for initialization /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	71	ec_command_t watch_command; /*< command for watching the slaves /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	72	unsigned int slaves_responding; /*< number of responding slaves /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	73	ec_slave_state_t slave_states; /*< states of the responding slaves /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	74	int debug_level; /*< master debug level /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	75	ec_stats_t stats; /*< cyclic statistics /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	76	unsigned int timeout; /*< timeout in synchronous IO /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	77	struct list_head eoe_slaves; /*< Ethernet-over-EtherCAT slaves /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	78	unsigned int reserved; /*< true, if the master is reserved for RT /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	79	struct timer_list freerun_timer; /*< timer object for free run mode /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	80	ec_master_mode_t mode; /*< master mode /
55 059a9e712aa7 Mit neuer Schnittstelle wieder lauff?hig. Florian Pose <fp@igh-essen.com> parents: 54 diff changeset	81	};
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	82
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	83	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	84
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	85	// master creation and deletion
178 b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	86	int ec_master_init(ec_master_t *, unsigned int);
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation) Florian Pose <fp@igh-essen.com> parents: 151 diff changeset	87	void ec_master_clear(struct kobject *);
56 36d1fa37f5e1 Bugfix im Master, ec_master_reset() und laufendes Beispiel in rt. Florian Pose <fp@igh-essen.com> parents: 55 diff changeset	88	void ec_master_reset(ec_master_t *);
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	89
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	90	// free run
191 ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	91	void ec_master_freerun_start(ec_master_t *);
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	92	void ec_master_freerun_stop(ec_master_t *);
ca805255a935 Prepared Free-Run mode Florian Pose <fp@igh-essen.com> parents: 182 diff changeset	93
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	94	// IO
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	95	void ec_master_receive(ec_master_t , const uint8_t , size_t);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	96	void ec_master_queue_command(ec_master_t , ec_command_t );
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	97	int ec_master_simple_io(ec_master_t , ec_command_t );
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	98
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	99	// slave management
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	100	int ec_master_bus_scan(ec_master_t *);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	101
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 191 diff changeset	102	// misc.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	103	void ec_master_debug(const ec_master_t *);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 95 diff changeset	104	void ec_master_output_stats(ec_master_t *);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	105	void ec_master_run_eoe(ec_master_t *);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	106
39 6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert. Florian Pose <fp@igh-essen.com> parents: 33 diff changeset	107	/*****************************************************************************/
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	108
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	109	#endif

author	Florian Pose <fp@igh-essen.com>
	Thu, 20 Apr 2006 13:31:31 +0000
changeset 195	674071846ee3
parent 191	ca805255a935
child 197	b9a6e2c22745
child 1618	5cff10efb927
permissions	-rw-r--r--